Automatic verification of finite-state concurrent systems using temporal logic specifications
ACM Transactions on Programming Languages and Systems (TOPLAS)
Graph-Based Algorithms for Boolean Function Manipulation
IEEE Transactions on Computers
Principles of artificial intelligence
Principles of artificial intelligence
Efficient implementation of a BDD package
DAC '90 Proceedings of the 27th ACM/IEEE Design Automation Conference
Symbolic Boolean manipulation with ordered binary-decision diagrams
ACM Computing Surveys (CSUR)
Symbolic model checking: 1020 states and beyond
Information and Computation - Special issue: Selections from 1990 IEEE symposium on logic in computer science
Acting optimally in partially observable stochastic domains
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
An algorithm for probabilistic planning
Artificial Intelligence - Special volume on planning and scheduling
Formal methods: state of the art and future directions
ACM Computing Surveys (CSUR) - Special ACM 50th-anniversary issue: strategic directions in computing research
Fast planning through planning graph analysis
Artificial Intelligence
Representing action: indeterminacy and ramifications
Artificial Intelligence
An action language based on causal explanation: preliminary report
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Automatic OBDD-based generation of universal plans in non-deterministic domains
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Extending Graphplan to handle uncertainty and sensing actions
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Symbolic Model Checking
A Performance Study of BDD-Based Model Checking
FMCAD '98 Proceedings of the Second International Conference on Formal Methods in Computer-Aided Design
Improvements to the Evaluation of Quantified Boolean Formulae
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
Planning as Satisfiability in Nondeterministic Domains
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Planning via Model Checking: A Decision Procedure for AR
ECP '97 Proceedings of the 4th European Conference on Planning: Recent Advances in AI Planning
Conformant Planning via Model Checking
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
Automata-Theoretic Approach to Planning for Temporally Extended Goals
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
Strong Cyclic Planning Revisited
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
Decision-theoretic planning
Constructing conditional plans by a theorem-prover
Journal of Artificial Intelligence Research
What is planning in the presence of sensing?
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Pushing the envelope: planning, propositional logic, and stochastic search
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
SPUDD: stochastic planning using decision diagrams
UAI'99 Proceedings of the Fifteenth conference on Uncertainty in artificial intelligence
Symbolic Heuristic Search Using Decision Diagrams
Proceedings of the 5th International Symposium on Abstraction, Reformulation and Approximation
Answer Set Planning under Action Costs
JELIA '02 Proceedings of the European Conference on Logics in Artificial Intelligence
Searching Powerset Automata by Combining Explicit-State and Symbolic Model Checking
TACAS 2001 Proceedings of the 7th International Conference on Tools and Algorithms for the Construction and Analysis of Systems
A logic programming approach to knowledge-state planning, II: the DLVk system
Artificial Intelligence
Weak, strong, and strong cyclic planning via symbolic model checking
Artificial Intelligence - special issue on planning with uncertainty and incomplete information
SAT-based planning in complex domains: concurrency, constraints and nondeterminism
Artificial Intelligence - special issue on planning with uncertainty and incomplete information
A logic programming approach to knowledge-state planning: Semantics and complexity
ACM Transactions on Computational Logic (TOCL)
Conformant planning via symbolic model checking and heuristic search
Artificial Intelligence
An Effective Algorithm for the Futile Questioning Problem
Journal of Automated Reasoning
Theory and Practice of Logic Programming
Conformant planning via heuristic forward search: a new approach
Artificial Intelligence
Strong planning under partial observability
Artificial Intelligence
Symbolic Techniques in Satisfiability Solving
Journal of Automated Reasoning
Theory and Practice of Logic Programming
State-set branching: Leveraging BDDs for heuristic search
Artificial Intelligence
The symbolic OBDD scheme for generating mechanical assembly sequences
Formal Methods in System Design
Creating automated plans for Semantic Web applications through planning as model checking
Expert Systems with Applications: An International Journal
International Journal of Artificial Intelligence and Soft Computing
Learning partially observable action models: efficient algorithms
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Conformant planning for domains with constraints: a new approach
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Answer set planning under action costs
Journal of Artificial Intelligence Research
Probabilistic hybrid action models for predicting concurrent percept-driven robot behavior
Journal of Artificial Intelligence Research
Planning graph heuristics for belief space search
Journal of Artificial Intelligence Research
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Formal verification of diagnosability via symbolic model checking
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Automated verification: graphs, logic, and automata
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Heuristic search + symbolic model checking = efficient conformant planning
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Planning in nondeterministic domains under partial observability via symbolic model checking
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Conformant planning via heuristic forward search: A new approach
Artificial Intelligence
Strong planning under partial observability
Artificial Intelligence
A distributed control loop for autonomous recovery in a multi-agent plan
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Approximation of action theories and its application to conformant planning
Artificial Intelligence
Qualitative MDPs and POMDPs: an order-of-magnitude approximation
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Planning under continuous time and resource uncertainty: a challenge for AI
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Towards a formal verification of OWL-S process models
ISWC'05 Proceedings of the 4th international conference on The Semantic Web
An approximation of action theories of AL and its application to conformant planning
LPNMR'05 Proceedings of the 8th international conference on Logic Programming and Nonmonotonic Reasoning
Mapping conformant planning into SAT through compilation and projection
CAEPIA'05 Proceedings of the 11th Spanish association conference on Current Topics in Artificial Intelligence
Search vs. symbolic techniques in satisfiability solving
SAT'04 Proceedings of the 7th international conference on Theory and Applications of Satisfiability Testing
Software Engineering for Multi-Agent Systems III
Replanning in domains with partial information and sensing actions
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
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We tackle the problem of planning in nondeterministic domains, by presenting a new approach to conformant planning. Conformant planning is the problem of finding a sequence of actions that is guaranteed to achieve the goal despite the nondeterminism of the domain. Our approach is based on the representation of the planning domain as a finite state automaton. We use Symbolic Model Checking techniques, in particular Binary Decision Diagrams, to compactly represent and efficiently search the automaton. In this paper we make the following contributions. First, we present a general planning algorithm for conformant planning, which applies to fully nondeterministic domains, with uncertainty in the initial condition and in action effects. The algorithm is based on a breadth-first, backward search, and returns conformant plans of minimal length, if a solution to the planning problem exists, otherwise it terminates concluding that the problem admits no conformant solution. Second, we provide a symbolic representation of the search space based on Binary Decision Diagrams (BDDs), which is the basis for search techniques derived from symbolic model checking. The symbolic representation makes it possible to analyze potentially large sets of states and transitions in a single computation step, thus providing for an efficient implementation. Third, we present CMBP (Conformant Model Based Planner), an efficient implementation of the data structures and algorithm described above, directly based on BDD manipulations, which allows for a compact representation of the search layers and an efficient implementation of the search steps. Finally, we present an experimental comparison of our approach with the state-of-the-art conformant planners CGP, QBFPLAN and GPT. Our analysis includes all the planning problems from the distribution packages of these systems, plus other problems defined to stress a number of specific factors. Our approach appears to be the most effective: CMBP is strictly more expressive than QBFPLAN and CGP and, in all the problems where a comparison is possible, CMBP outperforms its competitors, sometimes by orders of magnitude.